C/C++ Development

Language baseline is project-specific: check the project's CLAUDE.md, build system (-std= flags), or compiler configuration. All rules assume 32-bit ARM target unless otherwise noted.

Code Generation

• Respect the project's configured language standard. Don't assume a default.
• When a header is shared between C and C++ translation units, never define variables in the header — not even with static. Use extern in the header and exactly one definition in a single .c file.
• Allow goto when it simplifies cleanup or reduces complexity, but use it as a maintenance tool, not a first choice.
• Place Doxygen comments in header files. Keep implementation files focused on behavior.
• Avoid inline functions in header files. Keep function definitions in source files so the interface stays small.
• In C, lightweight macros or helper wrappers are acceptable if simple, local, and clearly named.

Memory Layout

• Watch local variable bursts inside functions. Large automatic arrays, structs, or many temporaries are stack budget items.
• Design structures with both semantics and byte alignment in mind. For protocol parsing, byte streams, and wire formats, make packing and endianness explicit.
• Use pragma or packing attributes only when they match a wire-format requirement and are documented clearly.
• Use double precision and 64-bit integers with caution on 32-bit targets. Operations on 64-bit objects create performance, compatibility, and atomicity problems unless the wider width is clearly required.
• When a 64-bit value crosses a task, interrupt, or module boundary, make its access pattern explicit: copied, split, guarded, or protected from tearing.

Heap and Pointer Ownership

• Treat heap objects and pointer-owned state as lifetime-sensitive resources.
• Make ownership, release point, and invalidation rules explicit.
• Avoid retaining borrowed pointers longer than the lifetime that guarantees validity.
• For heap-backed or pointer-rich code, document invalidation conditions so future changes don't accidentally reuse stale objects.

Embedded C Specifics

Hardware Register Access

Memory-mapped peripheral registers must be volatile to prevent the compiler from optimizing away repeated reads or writes. Use a volatile struct pointer (the CMSIS/HAL pattern) rather than bare casts.

// CORRECT: volatile pointer to peripheral struct
typedef struct {
    volatile uint32_t SR;   // Status  @ offset 0x00
    volatile uint32_t DR;   // Data    @ offset 0x04
    volatile uint32_t BRR;  // Baud    @ offset 0x08
    volatile uint32_t CR1;  // Control @ offset 0x0C
} UART_Regs;
#define UART2 ((UART_Regs *)0x40004400)

// BAD: missing volatile — compiler may optimize away repeated reads
#define UART_SR (*(uint32_t *)0x40001000)
while (UART_SR & TX_BUSY);  // May become infinite loop under optimization

Linker Section Placement

Use __attribute__((section(...))) to place data and code in specific memory regions.

// .noinit: value preserved across watchdog/system reset (not power-on reset)
uint32_t reset_reason __attribute__((section(".noinit")));

// .ramfunc: function kept in RAM for execution during flash programming
__attribute__((section(".ramfunc")))
void flash_program_word(uint32_t addr, uint32_t data) { /* ... */ }

// DMA-accessible buffer: must not be placed in CCM (tightly-coupled memory)
uint8_t dma_buffer[1024] __attribute__((section(".dma_ram")));

ISR-Safe vs Non-ISR-Safe Path Separation

Keep the ISR path minimal and use separate wrapper functions for task-context work. Never call blocking APIs from an ISR.

// ISR path: minimal, no blocking, use ISR-safe RTOS primitives
static void uart_rx_isr(void) {
    BaseType_t xHigherPriorityWoken = pdFALSE;
    xSemaphoreGiveFromISR(xUartSem, &xHigherPriorityWoken);
    portYIELD_FROM_ISR(xHigherPriorityWoken);
}

// Task path: can block, log, allocate, parse
void uart_rx_process_task(void) {
    if (xSemaphoreTake(xUartSem, portMAX_DELAY) == pdTRUE) {
        parse_and_dispatch(uart_rx_buf);
    }
}

Cortex-M Fault Handler (naked)

The HardFault handler must be __attribute__((naked)) to prevent the compiler's prologue from corrupting the stack pointer before the exception frame can be captured.

// naked: no prologue — SP is the exact exception frame. Required for fault handlers.
__attribute__((naked)) void HardFault_Handler(void) {
    __asm volatile(
        "tst lr, #4\n"          // Check EXC_RETURN bit 2: MSP vs PSP
        "ite eq\n"
        "mrseq r0, msp\n"       // Thread used MSP → read from MSP
        "mrsne r0, psp\n"       // Thread used PSP (RTOS) → read from PSP
        "b HardFault_HandlerC\n"
    );
}

Refactoring

• Keep the intent of the original code clear while changing structure. A refactor should improve cohesion, readability, or maintainability without quietly changing behavior.
• Skip smell-only changes that don't materially improve correctness, risk, maintainability, or clarity.
• Prefer small, focused extractions over broad rewrites. Split one responsibility at a time.
• Move a helper into shared code only when reuse is real and the dependency surface stays simple.
• If a block is short but semantically clear and reused in multiple places, extract it into an interface named by meaning, not implementation detail.
• If a C module has become difficult to keep readable without fighting the language, consider C++ refactoring — but ask the user before switching languages.
• When reshaping APIs or control flow, keep the normal, failure, and recovery paths intact. Re-validate all three after the change.
• If a refactor touches ownership, lifetime, or allocation, consult memory-layout guidance.